Nottensteiner, Korbinian und Sachtler, Arne und Albu-Schäffer, Alin (2021) Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution. Journal of Intelligent & Robotic Systems, 101 (49). Springer. doi: 10.1007/s10846-020-01303-z. ISSN 0921-0296.
PDF
- Verlagsversion (veröffentlichte Fassung)
2MB |
Offizielle URL: https://link.springer.com/article/10.1007/s10846-020-01303-z
Kurzfassung
Robotic assembly tasks are typically implemented in static settings in which parts are kept at fixed locations by making use of part holders. Very few works deal with the problem of moving parts in industrial assembly applications. However, having autonomous robots that are able to execute assembly tasks in dynamic environments could lead to more flexible facilities with reduced implementation efforts for individual products. In this paper, we present a general approach towards autonomous robotic assembly that combines visual and intrinsic tactile sensing to continuously track parts within a single Bayesian framework. Based on this, it is possible to implement object-centric assembly skills that are guided by the estimated poses of the parts, including cases where occlusions block the vision system. In particular, we investigate the application of this approach for peg-in-hole assembly. A tilt-and-align strategy is implemented using a Cartesian impedance controller, and combined with an adaptive path executor. Experimental results with multiple part combinations are provided and analyzed in detail.
elib-URL des Eintrags: | https://elib.dlr.de/142676/ | ||||||||||||||||
---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|---|
Dokumentart: | Zeitschriftenbeitrag | ||||||||||||||||
Titel: | Towards Autonomous Robotic Assembly: Using Combined Visual and Tactile Sensing for Adaptive Task Execution | ||||||||||||||||
Autoren: |
| ||||||||||||||||
Datum: | 20 Februar 2021 | ||||||||||||||||
Erschienen in: | Journal of Intelligent & Robotic Systems | ||||||||||||||||
Referierte Publikation: | Ja | ||||||||||||||||
Open Access: | Ja | ||||||||||||||||
Gold Open Access: | Nein | ||||||||||||||||
In SCOPUS: | Ja | ||||||||||||||||
In ISI Web of Science: | Ja | ||||||||||||||||
Band: | 101 | ||||||||||||||||
DOI: | 10.1007/s10846-020-01303-z | ||||||||||||||||
Verlag: | Springer | ||||||||||||||||
Name der Reihe: | ICAR 2019 Special Issue | ||||||||||||||||
ISSN: | 0921-0296 | ||||||||||||||||
Status: | veröffentlicht | ||||||||||||||||
Stichwörter: | Autonomous assembly, Sequential Monte Carlo, Compliant manipulation, Sensor fusion, Peg-in-hole, Future manufacturing | ||||||||||||||||
HGF - Forschungsbereich: | Luftfahrt, Raumfahrt und Verkehr | ||||||||||||||||
HGF - Programm: | Raumfahrt | ||||||||||||||||
HGF - Programmthema: | Robotik | ||||||||||||||||
DLR - Schwerpunkt: | Raumfahrt | ||||||||||||||||
DLR - Forschungsgebiet: | R RO - Robotik | ||||||||||||||||
DLR - Teilgebiet (Projekt, Vorhaben): | R - Intelligente Mobilität (RM) [RO] | ||||||||||||||||
Standort: | Oberpfaffenhofen | ||||||||||||||||
Institute & Einrichtungen: | Institut für Robotik und Mechatronik (ab 2013) | ||||||||||||||||
Hinterlegt von: | Nottensteiner, Korbinian | ||||||||||||||||
Hinterlegt am: | 14 Jun 2021 00:01 | ||||||||||||||||
Letzte Änderung: | 11 Sep 2023 13:24 |
Nur für Mitarbeiter des Archivs: Kontrollseite des Eintrags